def pose(self, frame_id):
""" Take pose of a specific keyframe
:param frame_id: id of the frame
"""
assert frame_id > 0
frame_id -= 1
try:
frame = copy.deepcopy(self.current.anim[frame_id])
except IndexError:
self.log.warn("Keyframe %s existiert nicht!" % (frame_id + 1))
return False
frame['duration'] = 1.0
frame['pause'] = 0.0
anim = {'name': 'record-pose',
'keyframes': [frame]
}
self.log.info("Trying to pose Keyframe %s" % (frame_id + 1))
try:
animation.Animator(
animation.parse(anim),
self.ipc.get_pose()).play(self.ipc, recordflag=True)
except NotControlableError:
self.log.warn("Motion meldete keine Kontrolle!")
return False
return True
def play_animation(self, ipc, name):
""" Spiel die Animation *name* ab. Stopt den Roboter vorher, falls nötig"""
self.log.info("Spiele Animation '%s'" % name)
filename = find_animation(name)
with open(filename) as fp:
info = json.load(fp)
anim = animation.parse(info)
try:
animation.Animator(anim, ipc.get_pose()).play(ipc, recordflag=True)
except NotControlableError:
self.log.warn("Motion meldete keine Kontrolle!")
return False
self.log.info("Beende Animation '%s'" % name)
return True
def execute_play(self, anim_dict):
""" Try to move the robot according to given data
The operation might fail
if it is not possible to control the Robot
:param anim_dict: Animation data (as dict) :return: Success of the operation """
success = True
try:
animation.Animator(
animation.parse(anim_dict),
self.ipc.get_pose()).play(self.ipc, recordflag=True)
except NotControlableError:
self.log.warn("Motion meldete keine Kontrolle!")
success = False
return success
def __play_animation(name, ipc, callback=None):
"""
Spielt eine Animation ab
Wenn IPC gesperrt ist wird false zurückgegeben und die Animation
nicht Ausgeführt, sonst True.
Animation läuft dann im hintergrund
"""
old_callback = None
if isinstance(name, (tuple, list)) and len(name) == 2:
name, old_callback = name
debug.warning("Use of deprecated callback in play_animation")
if not ipc.controlable:
debug.log("Verweigere Animation für '%s', da ipc not controllable meldet" % name)
return False
elif ipc.get_state() == STATE_ANIMATION_RUNNING:
debug.log("Verweigere Animation für '%s', da bereits eine animation läuft" % name)
return False
# Animation laden
filename = find_animation(name)
with open(filename) as fp:
info = json.load(fp)
if "hands" in info:
if info["hands"] == "yes" and not CONFIG["hands"]:
debug.warning("Versuche Animatione %s abzuspielen: Diese Animation \
benötigt Hände" % name)
return False
elif info["hands"] == "no" and CONFIG["hands"]:
debug.warning("Versuche Animatione %s abzuspielen: Diese Animation \
funktioniert nicht mit Händen" % name)
return False
anim = animation.parse(info)
def play(callback):
if not ipc.controlable or ipc.get_state() == STATE_ANIMATION_RUNNING:
debug.log("Führe Animations-Callback aus")
callback(False)
return
with ipc.force:
try:
debug.log("Spiele Animation %s..." % name)
animation.Animator(anim, ipc.get_pose()).play(ipc)
debug.log("Animation %s fertig." % name)
if callback:
debug.log("Führe Animations-Callback aus")
callback(True)
except:
debug.log("Animation %s wurde durch einen Fehler unterprochen"
% name)
if callback:
debug.log("Führe Animations-Callback aus")
callback(False)
debug.log("Starte Animationsthread für %s" % name)
thread = threading.Thread(target=play, args=(callback,))
thread.daemon = True
thread.start()
if old_callback:
debug.log("Führe Animations-Callback aus")
old_callback()
return True